CN102180428B - Mini multifunctional cross-country forktruck - Google Patents

Abstract

The invention discloses a small multifunctional off-road forklift. The telescopic arm type working mechanism, the driver's seat and the operating device are located on the front frame, and the electric control diesel engine and the variable pump are fixed on the rear frame; the working oil cylinder, the hydraulic valve group, the variable The motor and variable pump are connected by hydraulic hoses, and the control handle, vehicle controller, engine controller and sensors are connected by CAN bus to form a distributed vehicle network control system, which can be operated by remote control or wire control. The telescopic arm type working mechanism is installed on the right side of the front frame, the driver has a good view, the vehicle sensor can collect the vehicle status information in real time, and the control system can realize the automatic lifting and running of the engine through software according to the working conditions and vehicle status. Speed regulation, lifting speed and driving speed do not interfere with each other, and can warn and limit dangerous actions to ensure safe operation.

Description

Small multifunctional off-road forklift

technical field

The invention belongs to special material handling equipment, in particular to a small multifunctional off-road forklift.

Background technique

Container transportation of materials is one of the methods widely used internationally, after the container is delivered to the destination. It is necessary to unpack and transport the materials in the container, which requires the use of small multi-functional off-road forklifts and other construction machinery and equipment that can enter the interior of the container for unpacking. Solve the loading and unloading of palletized materials and unloading and loading of containers in the field environment. In order to enter the container and the car compartment with the canopy for operation, the overall height of the forklift should meet the requirements of the container entry operation, and it should have the function of full free lifting and side shifting of the mast. The forklift adopts a telescopic arm working mechanism, which can be equipped with a variety of attachments to complete hoisting, small earthwork operations, and various auxiliary functions for bulk material loading and unloading. The design of the car body should meet various operating purposes such as fork loading, box loading, hoisting, excavation, and shoveling in the wild all-terrain environment. The electronic control of engineering vehicles is one of the development trends of engineering vehicles. The vehicle comprehensively adopts electronically controlled diesel engine and electronically controlled hydrostatic transmission system; and sets multiple sets of sensors to monitor the status of the vehicle in real time to realize the safe operation and fault monitoring of the vehicle . And remote operation is possible.

Contents of the invention

The purpose of the present invention is to provide a small multifunctional off-road forklift, which adopts a static pressure transmission system, an articulated frame, a two-stage telescopic arm working mechanism, an electronically controlled compound handle operation, a central controller, and additional sensors to control the driving of the vehicle. Dangerous action limitation and fault self-diagnosis function. It can work in the wild all-terrain environment, and it is equipped with a quick change device for attachments. It can be equipped with various operating attachments such as side shifting forks, telescopic booms, excavating buckets, and buckets. And can enter the container to carry out packing operations. The rear frame adopts a box structure, and the hydraulic oil tank and fuel tank are directly used as the structural parts of the car body, which not only helps to improve the strength of the car body, but also reduces the quality of the whole car. Boom mounts are positioned sideways for improved driver visibility.

Technical scheme of the present invention is realized like this:

In the present invention, the front frame and the rear frame are connected through the steering hinge shaft, the longitudinal swing hinge shaft, the swing frame and the steering oil cylinder; the working device is installed on the front frame and arranged on the right side; The oil cylinder and the hollow shaft are connected with the front frame. The working device rotates around the hollow shaft under the push of the lifting cylinder. The follow-up oil cylinder is set on the right side of the working device; On the device, the other end is fixed on the pin shaft at the rear end of the quick change device, and the side shifting fork, bucket, loading bucket, and boom attachment are connected to the quick change base plate and the quick change device through the quick change card slot; the rear frame adopts Box-type structure, the hydraulic oil tank and the fuel tank are directly used as the rear frame structure, and are respectively arranged on both sides of the rear frame; two front wheels are arranged on both sides of the front frame, and two rear wheels are arranged on both sides of the rear frame. There are 4 wheel-side variable motors installed on the inside of the front wheel and two rear wheels, an external pressure oil filter is installed on the right side of the rear frame, an electronically controlled engine is installed on the rear frame, and a variable pump is installed at the front end of the electronically controlled engine; The multi-way valve group, the steering gear and the priority steering valve are arranged on the front frame, and a brake solenoid valve group is respectively arranged on the front frame and the rear frame.

Both the steering hinge shaft and the longitudinal swing hinge shaft are installed on the swing frame, the steering oil cylinder is installed between the front frame and the swing frame, and the hydraulic pipelines and wiring harnesses connected to the front frame and the rear frame are concentrated on the swing frame.

A servo cylinder is installed on the right side of the front frame, one end of the servo cylinder is connected to the bottom of the front frame, and the other end is connected to the outer arm barrel of the working device, and is driven by the working device to perform a servo movement; the turning cylinder and the servo cylinder are connected in parallel And the bores are the same, forming a feedback oil cylinder type leveling mechanism.

The rotational speed sensors are set on the variable wheel motors respectively, the pressure sensors are set on the lift cylinder, the main oil circuit and the control oil circuit respectively, the angle sensors are respectively set on the working device and the quick change device, and the front and rear inclination sensors are respectively set on the front frame , On the rear frame, the vehicle controller is set on the front frame; the cab is equipped with instrument panel, steering wheel, forward pedal, reverse pedal, parking brake button, and the right side of the cab is equipped with a composite control handle, vehicle controller, speed Sensors, pressure sensors, angle sensors, front and rear inclination sensors, forward pedals, reverse pedals, electronically controlled engines, composite control handles, and instrument panels are connected by CAN bus to form a distributed vehicle network control system.

The vehicle controller is equipped with 4 switching input points for jogging forward and backward and jogging left and right steering. The vehicle controller is connected with a wire control device or a remote control device, and the forklift is controlled by software to walk remotely, and the whole vehicle can be operated remotely.

The working device adopts a telescopic structure.

The car is driven by full static pressure, simple in structure, and good in micro-movement. Multiple sensors can be installed to monitor the vehicle status in real time. The data communication is connected by CAN bus, the controller is centralized control, and multiple safety control measures are set. The design of the car body should meet various operating purposes such as fork loading, box loading, hoisting, excavation, and shoveling in the wild all-terrain environment. The matching attachment quick change device can quickly replace the attachments, improve work efficiency, and enable the user to fully exert the performance of the vehicle without increasing investment, complete various operations, and improve the cost performance of the machine.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the appearance of the fork of the present invention when it is unfolded and in the lowest position;

Fig. 2 is a schematic diagram of the structure of the side view of the fork of the present invention when it is unfolded and placed in the highest position;

Fig. 3 is a right schematic diagram of the sectional structure of the rear vehicle body of the present invention.

Fig. 4 is a schematic view on the left side of the sectional structure of the rear vehicle body of the present invention.

Fig. 5 is a working schematic diagram of the present invention after installing the bucket attachment, the bucket attachment and the boom attachment.

Detailed ways

With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Fig. 5, the present invention comprises front vehicle frame 1, rear vehicle frame 2, working device 5, swing frame 38, quick-changing device 24, side shift cargo fork 8, Digging bucket 9, loading bucket 10, boom 11 attachment, speed sensor 21, pressure sensor 23, angle sensor 25, front and rear tilt angle sensor 26, vehicle controller 27, wire control device 34 or remote control device 35, wiring harness and oil circuit The front frame 1 and the rear frame 2 are connected through the steering hinge shaft 3, the longitudinal swing hinge shaft 4, the swing frame 38 and the steering cylinder 39;

The working device 5 is installed on the front frame 1 and arranged on the right side, which improves the driver's field of view. The working device 5 is connected with the front frame 1 through the lifting cylinder 6, the follower cylinder 13, and the hollow shaft 7. The working device 5 rotates around the hollow shaft 7 under the push of the lift cylinder 6, and the follower cylinder 13 is arranged on the working device 5 and the right side of the front frame 1;

The quick-change device 24 is arranged at the front end of the working device 5 , one end of the turning cylinder 43 is fixed on the working device 5 , and the other end is fixed on the pin shaft 12 at the rear end of the quick-changing device 24 , and the quick-changing device 24 winds around the pin under the push of the turning oil cylinder 43 The shaft 12 rotates; the side-shifting fork 8, the bucket 9, the loading bucket 10, and the attachment of the boom 11 are connected with the quick-change base plate 42 and the quick-change device 24 through the quick-change card slot 41; the cab is set on the front frame 1 , the rear frame 2 adopts a box-type structure, and the hydraulic oil tank 36 and the fuel tank 37 are directly used as the rear frame 2 structural members, which are respectively arranged on both sides of the rear frame 2. The rear frame 2 is provided with an electronic control engine 15, and the front end of the electronic control engine 15 is provided with a variable pump 16; 1. Each rear frame 2 is equipped with a brake solenoid valve group; variable pump 16, electronically controlled multi-way valve group 14, steering gear 44, priority steering valve 32 and working device 5, side shifting fork 8, bucket 9, Hydraulic pipelines are used to connect the loading bucket 10 and the oil cylinders of the attachments of the boom 11 .

The steering hinge shaft 3 and the longitudinal swing hinge shaft 4 are all installed on the swing frame 38, and the steering oil cylinder 39 is installed between the front frame 1 and the swing frame 38, and is connected to the hydraulic pipelines and wiring harnesses of the front frame 1 and the rear frame 2. It can be arranged centrally on the swing frame 38. This structure improves the stress of the steering cylinder 39 when the rear frame 2 swings laterally, realizes a larger swing amount, and solves the problem of the articulated frame in a small space. The key issue.

Front vehicle frame 1 both sides are provided with two front wheels 17, rear vehicle frame 2 both sides are provided with two rear wheels 18, two front wheels 17, two rear wheels 18 inboards are provided with 4 wheel edge variable motors 19. The variable pump 16 is connected with the electric control multi-way valve group 14 and the wheel variable motor 19 through the hydraulic rubber hose. An external pressure oil filter 20 is arranged on the right side of the rear frame 2 to improve the oil accuracy of the static pressure system. The working system uses a priority steering valve 32, so that the working system and the steering system share a variable pump 16; The pressure compensating valve 33 can ensure the joint operation of various actions, such as telescopic while lifting, or turning backward while lifting.

One end of the follow-up oil cylinder 13 is connected with the bottom of the front vehicle frame 1, and the other end is connected with the outer arm barrel of the work device 5, and is driven by the work device 5 for follow-up movement; the follow-up oil cylinder 13, the outer arm barrel of the work device 5, The triangle formed by the hollow shaft 7 is similar to the triangle formed by the overturning cylinder 43, the quick changer 24, and the bearing pin 12. The overturning cylinder 43 is connected in parallel with the follower cylinder 13 and has the same bore diameter, forming a feedback cylinder type leveling mechanism.

The rotational speed sensors 21 are respectively arranged on the wheel variable motors 19, the pressure sensors 23 are respectively arranged on the lift cylinder 6, the main oil circuit and the control oil circuit, the angle sensors 25 are respectively arranged on the working device 5 and the quick change device 24, and the front and rear inclination angles The sensor 26 is arranged on the front vehicle frame 1 and the rear vehicle frame 2 respectively, and the vehicle controller 27 is arranged on the front vehicle frame 1; button 31, and a compound control handle 40 is arranged on the right side of the cab. Vehicle controller 27, rotational speed sensor 21, pressure sensor 23, angle sensor 25, front and rear inclination angle sensor 26, forward pedal 29, reverse pedal 30, electronically controlled engine 15, compound control handle 40, and instrument panel 22 are connected by CAN bus for communication The communication mode forms a distributed vehicle network control system.

The speed sensor 21, the pressure sensor 23, the angle sensor 25, and the front and rear inclination sensors 26 collect vehicle status information in real time, detect the front and rear inclination angles of the side shifting fork 8, the bucket 9, the loading bucket 10, and the attachment of the boom 11 in real time. 5. Position limit the forward and backward tilting operation of the attachment; limit the forward tilting of the side shifting fork 8 and the loading bucket 10 at the low position to prevent interference with the two front wheels 17, and limit the large angle of backward tilting at the high position to prevent the cargo from falling backwards The vehicle controller 27 calculates the overturning moment of the vehicle, reports to the police, displays or stops lifting according to the stability setting, stops advancing when there is a rollover tendency, and realizes the automatic speed regulation of the electronically controlled engine 15 in the work and walking process through the program , real-time monitoring of vehicle speed, power, engine speed, working timing, mileage, hydraulic oil temperature, gear position, vehicle inclination, and pressure of each system can be monitored, and displayed on the instrument panel 22 to facilitate fault judgment. And display the information on the dashboard 22.

The vehicle controller 27 is provided with 4 switching input points for jogging forward and backward and jogging left and right steering. The vehicle controller 27 is connected with a wire control device 34 or a remote control device 35, and the forklift is controlled by software for remote walking, and the whole vehicle can realize remote control. operate.

The working device 5 adopts a telescopic structure and a two-stage telescopic arm structure, which can be equipped with various operating attachments such as side shifting forks, telescopic booms, excavating buckets, and buckets to achieve different functional requirements such as fork loading and hoisting.

Claims (6)

1. A small multifunctional off-road forklift, including a front frame (1), characterized in that the front frame (1) and the rear frame (2) are oscillating through the steering hinge (3), longitudinal swing hinge (4), and The frame (38) is connected with the steering cylinder (39); the working device (5) is installed on the front frame (1) and arranged on the right side, and the working device (5) passes through the lifting cylinder (6), the follower cylinder ( 13), the hollow shaft (7) is connected with the front frame (1), the working device (5) rotates around the hollow shaft (7) under the push of the lifting cylinder (6), and the follower cylinder (13) is set at the working The right side of the device (5); the quick-change device (24) is set at the front end of the working device (5), and one end of the turning cylinder (43) is fixed on the working device (5), and the other end is fixed to the pin at the rear end of the quick-changing device (24) On the shaft (12), the side shifting fork (8), bucket (9), loading bucket (10), and boom (11) pass through the quick-change card slot (41), the quick-change bottom plate (42) and the quick-change device (24) connection; the rear frame (2) adopts a box-type structure, and the hydraulic oil tank (36) and the fuel tank (37) are directly used as structural parts of the rear frame (2), and are respectively arranged on both sides of the rear frame (2) Two front wheels (17) are arranged on both sides of the front vehicle frame (1), two rear wheels (18) are arranged on both sides of the rear vehicle frame (2), and the inner sides of the two front wheels (17) and the two rear wheels (18) 4 wheel-side variable motors (19) are provided, an external pressure oil filter (20) is provided on the right side of the rear frame (2), an electronically controlled engine (15) is provided on the rear frame (2), and the electronically controlled engine (15) There is a variable pump (16) at the front end; the electronically controlled multi-way valve group (14), the steering gear (44), and the priority steering valve (32) are set on the front frame (1), and the front frame (1) 1. The rear vehicle frame (2) is respectively provided with a brake solenoid valve group. 2. The small multifunctional off-road forklift according to claim 1, characterized in that, the steering hinge shaft (3) and the longitudinal swing hinge shaft (4) are installed on the swing frame (38), and the steering cylinder (39) is installed Between the front frame (1) and the swing frame (38), the hydraulic pipelines and wire harnesses connecting the front frame (1) and the rear frame (2) are concentratedly arranged on the swing frame (38). 3. The small multifunctional off-road forklift according to claim 1, characterized in that, the right side of the front frame (1) is provided with a follower cylinder (13), and one end of the follower cylinder (13) is connected to the bottom of the front frame (1) The other end is connected with the outer arm barrel of the working device (5), and the follow-up movement is carried out under the drive of the working device (5); the turning cylinder (43) is connected in parallel with the follow-up cylinder (13) and has the same bore diameter, forming a feedback cylinder type leveling mechanism. 4. The small multifunctional off-road forklift according to claim 1, characterized in that the speed sensors (21) are respectively arranged on each wheel side variable motor (19), and the pressure sensors (23) are respectively arranged on the lifting cylinders ( 6), the main oil circuit and the control oil circuit, the angle sensor (25) is set on the working device (5) and the quick change device (24) respectively, and the front and rear tilt angle sensors (26) are respectively set on the front frame (1) and the rear On the vehicle frame (2), the vehicle controller (27) is arranged on the front vehicle frame (1); the cab is provided with instrument panel (22), steering wheel (28), forward pedal (29), backward pedal (30), parking Vehicle brake button (31), composite control handle (40) is set on the right side of the cab, vehicle controller (27), speed sensor (21), pressure sensor (23), angle sensor (25), front and rear inclination sensor (26 ), the forward pedal (29), the reverse pedal (30), the electronically controlled engine (15), the composite control handle (40), and the instrument panel (22) adopt the CAN bus communication mode to form a distributed vehicle network control system . 5. The small multi-functional off-road forklift according to claim 4, characterized in that, the vehicle controller (27) is provided with 4 switch input points for jogging forward and backward and jogging left and right steering, and the vehicle controller (27) Connect the line control device (34) or the remote control device (35) to the top, and use the software to control the forklift to travel remotely, and the whole vehicle can realize remote operation. 6. The small multifunctional off-road forklift according to claim 1, characterized in that the working device (5) adopts a telescopic structure.

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